saf_utility_geometry.c File Reference

A collection of computational geometry related functions. More...

#include "saf_utilities.h"
#include "saf_externals.h"

Go to the source code of this file.

Functions
static void	getRx (float theta_rad, float Rx[3][3])
	Helper function for euler2rotationMatrix()
static void	getRy (float theta_rad, float Ry[3][3])
	Helper function for euler2rotationMatrix()
static void	getRz (float theta_rad, float Rz[3][3])
	Helper function for euler2rotationMatrix()
void	quaternion2rotationMatrix (quaternion_data *Q, float R[3][3])
	Constructs a 3x3 rotation matrix based on a quaternion.
void	rotationMatrix2quaternion (float R[3][3], quaternion_data *Q)
	Calculates the quaternion corresponding to a 3x3 rotation matrix.
void	euler2Quaternion (float alpha, float beta, float gamma, int degreesFlag, EULER_ROTATION_CONVENTIONS convention, quaternion_data *Q)
	Converts Euler angles to a quaternion.
void	quaternion2euler (quaternion_data *Q, int degreesFlag, EULER_ROTATION_CONVENTIONS convention, float *alpha, float *beta, float *gamma)
	Converts a quaternion to Euler angles.
void	euler2rotationMatrix (float alpha, float beta, float gamma, int degreesFlag, EULER_ROTATION_CONVENTIONS convention, float R[3][3])
	Constructs a 3x3 rotation matrix from the Euler angles.
void	yawPitchRoll2Rzyx (float yaw, float pitch, float roll, int rollPitchYawFLAG, float R[3][3])
	Constructs a 3x3 rotation matrix from the Euler angles, using the yaw-pitch-roll (zyx) convention.
void	sph2cart (float *sph, int nDirs, int anglesInDegreesFLAG, float *cart)
	Converts spherical coordinates to Cartesian coordinates.
void	cart2sph (float *cart, int nDirs, int anglesInDegreesFLAG, float *sph)
	Converts Cartesian coordinates to spherical coordinates.
void	unitSph2cart (float *dirs, int nDirs, int anglesInDegreesFLAG, float *dirs_xyz)
	Converts spherical coordinates to Cartesian coordinates of unit length.
void	unitCart2sph (float *dirs_xyz, int nDirs, int anglesInDegreesFLAG, float *dirs)
	Converts Cartesian coordinates of unit length to spherical coordinates.
void	sphElev2incl (float *dirsElev, int nDirs, int degreesFlag, float *dirsIncl)
	Converts spherical coordinates of unit length from elevation to inclination.
void	sphIncl2Elev (float *dirsIncl, int nDirs, int degreesFlag, float *dirsElev)
	Converts spherical coordinates of unit length from inclination to elevation.
float	L2_norm3 (float v[3])
	Returns the L2 (Euclidean) norm of a 3-element vector.
float	L2_norm (float *v, int lenV)
	Returns the L2 (Euclidean) norm of an arbitrary length vector.
float	Frob_norm (float *M, int lenX, int lenY)
	Returns the Frobenius Norm of a matrix M, of dimensions: lenX x lenY.
void	crossProduct3 (float a[3], float b[3], float c[3])
	Cross product between two 3-element floating point vectors (c = a x b)
float	getDistBetweenPointAndLine (float point[3], float v1[3], float v2[3])
	Returns the distance between a "point" and an infinite line described by the two points "v1" and "v2".
float	getDistBetween2Points (float point_a[3], float point_b[3])
	Returns the distance between "point_a" and "point_b".
void	convhull3d (const float *vertices, const int nVert, int **faces, int *nFaces)
	Builds the convex hull of an arrangement of vertices in 3-dimensional space.
void	convhullnd (const float *points, const int nPoints, const int nd, int **faces, int *nFaces)
	Builds the convex hull of an arrangement of points in N-dimensional space.
void	delaunaynd (const float *points, const int nPoints, const int nd, int **DT, int *nDT)
	Computes the Delaunay triangulation of an arrangement of points in N-dimensional space.
void	sphDelaunay (const float *dirs_deg, const int nDirs, int **faces, int *nFaces, float *vertices)
	Delaunay triangulation of a spherical arrangement of points.
void	sphVoronoi (int *faces, int nFaces, float *vertices, int nDirs, voronoi_data *voronoi)
	Computes the Voronoi diagram for a spherical arrangement of points.
void	sphVoronoiAreas (voronoi_data *voronoi, float *areas)
	Computes the areas of a Voronoi diagram on the unit sphere [sum(areas)=4pi].
void	getVoronoiWeights (float *dirs_deg, int nDirs, int diagFLAG, float *weights)
	Computes the integration weights, based on the areas of each face of the corresponding Voronoi diagram [sum(weights)=4pi].

Detailed Description

A collection of computational geometry related functions.

Author

Leo McCormack

Date

03.07.2020

License

ISC

Definition in file saf_utility_geometry.c.

Function Documentation

getRx()

static void getRx ( float theta_rad, float Rx[3][3] )

static

Helper function for euler2rotationMatrix()

Definition at line 31 of file saf_utility_geometry.c.

getRy()

static void getRy ( float theta_rad, float Ry[3][3] )

static

Helper function for euler2rotationMatrix()

Definition at line 49 of file saf_utility_geometry.c.

getRz()

static void getRz ( float theta_rad, float Rz[3][3] )

static

Helper function for euler2rotationMatrix()

Definition at line 67 of file saf_utility_geometry.c.